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AdjointGradients

phyz_diff::rollout::adjoint

Struct AdjointGradients 

Source 
pub struct AdjointGradients {
    pub objective: f64,
    pub d_inertia: Vec<[f64; 10]>,
    pub d_vertices: Vec<Vec<Vec3>>,
}
Expand description

Everything one backward pass produces.

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§objective: f64

The objective at the nominal rollout.

§d_inertia: Vec<[f64; 10]>

dJ/dπ per body, canonical packing [m, cx, cy, cz, Ixx, Iyy, Izz, Ixy, Ixz, Iyz] (COM-frame inertia, body-frame COM).

§d_vertices: Vec<Vec<Vec3>>

∂J/∂x per collision-mesh vertex (body frame), parallel to contact.meshes; empty when the rollout has no contact.

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